A method and apparatus for use in traversing a vehicle transportation network may include a host vehicle receiving a remote vehicle message including remote vehicle information, identifying host vehicle information, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected forward collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, identifying a vehicle control action based on the deceleration rate, and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.
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1. A method for use in traversing a vehicle transportation network, the method comprising: traversing, by a host vehicle, a vehicle transportation network, wherein traversing the vehicle transportation network includes: receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, identifying host vehicle information for the host vehicle, determining a relative position code indicating whether an expected path for the remote vehicle and an expected path for the host vehicle are convergent based on the host vehicle information, the remote vehicle information, and a reference direction, determining a remote vehicle dynamic state code based on the remote vehicle information, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected forward collision condition based on the relative position code, the remote vehicle dynamic state code, and the host vehicle dynamic state code, identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, and identifying a vehicle control action based on the deceleration rate; and traversing a portion of the vehicle transportation network in accordance with the vehicle control action.
A host vehicle uses a method for forward collision avoidance while driving. The vehicle receives a message wirelessly from another car (remote vehicle) containing information about the remote vehicle. The host vehicle identifies its own information and determines a relative position code. This code indicates if the predicted paths of both vehicles will converge, based on both vehicle's information and a reference direction. Dynamic state codes for both vehicles are determined. Based on these codes, the system identifies if a forward collision is likely. If so, it calculates a deceleration rate for safety, determines a vehicle control action (e.g., braking), and executes that action to avoid the collision.
2. The method of claim 1 , wherein the remote vehicle information includes: remote vehicle geospatial state information for the remote vehicle, the remote vehicle geospatial state information including geospatial coordinates for the remote vehicle; remote vehicle kinematic state information for the remote vehicle, the remote vehicle kinematic state information including one or more of a remote vehicle velocity for the remote vehicle, a remote vehicle heading for the remote vehicle, a remote vehicle acceleration for the remote vehicle, or a remote vehicle yaw rate for the remote vehicle; and remote vehicle operational state information for the remote vehicle, the remote vehicle operational state information including one or more of lateral control state information, transmission state information, or exterior signal state information.
The remote vehicle information in the forward collision avoidance system includes the remote vehicle's geospatial location (GPS coordinates), kinematic state (velocity, heading, acceleration, yaw rate), and operational state. The operational state includes information about lateral control (steering), transmission state (gear), and external signals (turn signals, brake lights). This data is transmitted wirelessly to the host vehicle to help determine the risk of a collision.
3. The method of claim 1 , wherein the host vehicle information includes: host vehicle geospatial state information for the host vehicle, the host vehicle geospatial state information including geospatial coordinates for the host vehicle; host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information including one or more of a host vehicle velocity for the host vehicle, a host vehicle heading for the host vehicle, a host vehicle acceleration for the host vehicle, or a host vehicle yaw rate for the host vehicle; and host vehicle operational state information for the host vehicle, the host vehicle operational state information including one or more of lateral control state information for the host vehicle, transmission state information for the host vehicle, or exterior signal state information for the host vehicle.
The host vehicle information in the forward collision avoidance system includes the host vehicle's geospatial location (GPS coordinates), kinematic state (velocity, heading, acceleration, yaw rate), and operational state. The operational state includes information about lateral control (steering), transmission state (gear), and external signals (turn signals, brake lights). This information is used in conjunction with the remote vehicle's data to assess potential collision risks.
4. The method of claim 1 , wherein determining the relative position code includes identifying a first eight-bit byte wherein a first bit of the first eight-bit byte and a second bit of the first eight-bit byte indicate a longitudinal position of the remote vehicle relative to the host vehicle, a third bit of the first eight-bit byte and a fourth bit of the first eight-bit byte indicate a lateral position of the remote vehicle relative to the host vehicle, a fifth bit of the first eight-bit byte and a sixth bit of the first eight-bit byte indicate an elevation of the remote vehicle relative to the host vehicle, and a seventh bit of the first eight-bit byte and an eighth bit of the first eight-bit byte indicate a heading of the remote vehicle relative to the host vehicle; and traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the relative position code indicates a fault state, indicating the fault state to a driver of the host vehicle.
The system determines the relative position of the remote vehicle using an 8-bit byte. Specific bits within this byte represent the longitudinal position, lateral position, elevation, and heading of the remote vehicle relative to the host vehicle. If the relative position code indicates a fault (e.g., invalid data), the system alerts the driver of the host vehicle. The driver is notified when an error is detected in the positioning data, preventing reliance on faulty information.
5. The method of claim 1 , wherein determining the remote vehicle dynamic state code includes identifying a second eight-bit byte wherein a first bit of the second eight-bit byte and a second bit of the second eight-bit byte indicate a kinematic state of the remote vehicle, a third bit of the second eight-bit byte and a fourth bit of the second eight-bit byte indicate a lateral control state of the remote vehicle, a fifth bit of the second eight-bit byte and a sixth bit of the second eight-bit byte indicate a transmission state of the remote vehicle, and a seventh bit of the second eight-bit byte and an eighth bit of the second eight-bit byte indicate an external signal state of the remote vehicle; and traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the remote vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.
The system determines the remote vehicle's dynamic state using an 8-bit byte. Specific bits within this byte represent the remote vehicle's kinematic state, lateral control state, transmission state, and external signal state. If the remote vehicle dynamic state code indicates a fault, the system alerts the driver of the host vehicle. This informs the driver when the remote vehicle's data is unreliable, ensuring they don't make decisions based on potentially incorrect information.
6. The method of claim 1 , wherein determining the host vehicle dynamic state code includes identifying a third eight-bit byte wherein a first bit of the third eight-bit byte and a second bit of the third eight-bit byte indicate a kinematic state of the host vehicle, a third bit of the third eight-bit byte and a fourth bit of the third eight-bit byte indicate a lateral control state of the host vehicle, a fifth bit of the third eight-bit byte and a sixth bit of the third eight-bit byte indicate a transmission state of the host vehicle, and a seventh bit of the third eight-bit byte and an eighth bit of the third eight-bit byte indicate an external signal state of the host vehicle; and traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes, in response to a determination that the host vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.
The system determines the host vehicle's dynamic state using an 8-bit byte. Specific bits within this byte represent the host vehicle's kinematic state, lateral control state, transmission state, and external signal state. If the host vehicle dynamic state code indicates a fault, the system alerts the driver of the host vehicle. This informs the driver when the host vehicle's own data is unreliable, ensuring system integrity.
7. The method of claim 1 , wherein identifying the expected forward collision condition includes determining that the remote vehicle is ahead of the host vehicle, the remote vehicle is in-lane with the host vehicle, the remote vehicle is level with the host vehicle, and the host vehicle is in motion.
The forward collision condition is identified when the system determines the remote vehicle is ahead of the host vehicle, in the same lane as the host vehicle, at the same elevation as the host vehicle, and the host vehicle is moving. These conditions indicate a potential for a forward collision that warrants further analysis and possible intervention.
8. The method of claim 1 , wherein identifying the deceleration rate includes: identifying a current geospatial distance between the host vehicle and the remote vehicle; identifying the deceleration rate based on the current geospatial distance between the host vehicle and the remote vehicle, a current speed of the remote vehicle, and a current speed of the host vehicle, such that traversing the vehicle transportation network by decelerating in accordance with the deceleration rate includes decelerating such that a difference between a speed of the host vehicle at a post-deceleration location and an expected speed for the remote vehicle temporally corresponding to the post-deceleration location is within a relative speed threshold for forward collision avoidance, and a difference between a geospatial location of the host vehicle corresponding to the post-deceleration location and an expected geospatial location for the remote vehicle corresponding to the post-deceleration location exceeds a minimum distance threshold for forward collision avoidance.
The deceleration rate is calculated by considering the current distance between the host and remote vehicles, the current speed of the remote vehicle, and the current speed of the host vehicle. The goal is to decelerate the host vehicle such that its speed and position, after deceleration, are within safe thresholds relative to the expected speed and position of the remote vehicle. Specifically, the speed difference must be below a speed threshold, and the distance difference must exceed a minimum distance threshold.
9. The method of claim 1 , wherein identifying the vehicle control action includes: on a condition that the deceleration rate is within a forward collision advisory deceleration rate threshold, identifying an advisory vehicle control action corresponding to the deceleration rate as the vehicle control action; and on a condition that the deceleration rate is within a forward collision warning deceleration rate threshold, identifying a warning vehicle control action corresponding to the deceleration rate as the vehicle control action.
The system identifies the vehicle control action based on the calculated deceleration rate. If the required deceleration falls within an "advisory" threshold, the system chooses an advisory action (e.g., a visual warning). If the deceleration rate is within a "warning" threshold (higher deceleration), the system selects a warning action (e.g., audible alarm or pre-charging the brakes). The severity of the situation dictates the type of warning issued.
10. The method of claim 9 , wherein traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes: on a condition that the vehicle control action is the advisory vehicle control action, presenting a representation of the advisory vehicle control action to a driver of the host vehicle; and on a condition that the vehicle control action is the warning vehicle control action, autonomously controlling the host vehicle in accordance with the deceleration rate.
If the selected vehicle control action is advisory, the system presents a visual or auditory representation of the advisory to the driver. If the control action is a warning, the system autonomously controls the host vehicle by applying the calculated deceleration rate. This means either informing the driver of a potential risk, or automatically initiating braking to prevent or mitigate the collision.
11. A method for use in traversing a vehicle transportation network, the method comprising: traversing, by a host vehicle, a vehicle transportation network, wherein traversing the vehicle transportation network includes: receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based on the host vehicle information, the remote vehicle information, and a reference direction, determining a host vehicle dynamic state code based on the host vehicle information, and traversing a portion of the vehicle transportation network, wherein traversing the portion of the vehicle transportation network includes performing forward collision avoidance based on the relative position code and the host vehicle dynamic state code.
A host vehicle drives and receives wireless messages from a remote vehicle with the remote vehicle's information. It determines a relative position code indicating the remote vehicle's geospatial location relative to itself, based on both vehicles' data and a reference direction. It also determines its own dynamic state. Forward collision avoidance is then performed based on the relative position code and the host vehicle's dynamic state. The system leverages relative positioning and the host vehicle's state to prevent accidents.
12. The method of claim 11 , wherein determining the relative position code includes: identifying a first eight-bit byte wherein a first bit of the first eight-bit byte and a second bit of the first eight-bit byte indicate a longitudinal position of the remote vehicle relative to the host vehicle, a third bit of the first eight-bit byte and a fourth bit of the first eight-bit byte indicate a lateral position of the remote vehicle relative to the host vehicle, a fifth bit of the first eight-bit byte and a sixth bit of the first eight-bit byte indicate an elevation of the remote vehicle relative to the host vehicle, and a seventh bit of the first eight-bit byte and an eighth bit of the first eight-bit byte indicate a heading of the remote vehicle relative to the host vehicle; and performing forward collision avoidance includes, in response to a determination that the relative position code indicates a fault state, indicating the fault state to a driver of the host vehicle.
The relative position code, indicating geospatial location, is determined using an 8-bit byte, where specific bits represent the longitudinal position, lateral position, elevation, and heading of the remote vehicle relative to the host vehicle. If the relative position code shows a fault, the system indicates this fault to the driver of the host vehicle. Thus, if the position data is corrupt, the driver is notified.
13. The method of claim 11 , wherein: the remote vehicle information includes: remote vehicle geospatial state information for the remote vehicle, the remote vehicle geospatial state information including geospatial coordinates for the remote vehicle, remote vehicle kinematic state information for the remote vehicle, the remote vehicle kinematic state information including one or more of a remote vehicle velocity for the remote vehicle, a remote vehicle heading for the remote vehicle, a remote vehicle acceleration for the remote vehicle, or a remote vehicle yaw rate for the remote vehicle, and remote vehicle operational state information for the remote vehicle, the remote vehicle operational state information including one or more of lateral control state information, transmission state information, or exterior signal state information; traversing the vehicle transportation network includes determining a remote vehicle dynamic state code based on the remote vehicle information, wherein determining the remote vehicle dynamic state code includes identifying a second eight-bit byte wherein a first bit of the second eight-bit byte and a second bit of the second eight-bit byte indicate a kinematic state of the remote vehicle, a third bit of the second eight-bit byte and a fourth bit of the second eight-bit byte indicate a lateral control state of the remote vehicle, a fifth bit of the second eight-bit byte and a sixth bit of the second eight-bit byte indicate a transmission state of the remote vehicle, and a seventh bit of the second eight-bit byte and an eighth bit of the second eight-bit byte indicate an external signal state of the remote vehicle; and performing forward collision avoidance includes, in response to a determination that the remote vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.
Remote vehicle information includes geospatial location (GPS), kinematic state (velocity, heading, acceleration, yaw), and operational state (steering, transmission, signals). The system then determines a remote vehicle dynamic state code with an 8-bit byte representation: bits representing kinematic state, lateral control, transmission state, and external signals. If this code indicates a fault, the system alerts the driver. The driver is notified of errors in the remote vehicle's reported state.
14. The method of claim 11 , wherein: the host vehicle information includes: host vehicle geospatial state information for the host vehicle, the host vehicle geospatial state information including geospatial coordinates for the host vehicle, host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information including one or more of a host vehicle velocity for the host vehicle, a host vehicle heading for the host vehicle, a host vehicle acceleration for the host vehicle, or a host vehicle yaw rate for the host vehicle, and host vehicle operational state information for the host vehicle, the host vehicle operational state information including one or more of lateral control state information for the host vehicle, transmission state information for the host vehicle, or exterior signal state information for the host vehicle; determining the host vehicle dynamic state code includes identifying a third eight-bit byte wherein a first bit of the third eight-bit byte and a second bit of the third eight-bit byte indicate a kinematic state of the host vehicle, a third bit of the third eight-bit byte and a fourth bit of the third eight-bit byte indicate a lateral control state of the host vehicle, a fifth bit of the third eight-bit byte and a sixth bit of the third eight-bit byte indicate a transmission state of the host vehicle, and a seventh bit of the third eight-bit byte and an eighth bit of the third eight-bit byte indicate an external signal state of the host vehicle; and performing forward collision avoidance includes, in response to a determination that the host vehicle dynamic state code indicates a fault state, indicating the fault state to a driver of the host vehicle.
Host vehicle information includes geospatial location (GPS), kinematic state (velocity, heading, acceleration, yaw), and operational state (steering, transmission, signals). The system determines a host vehicle dynamic state code as an 8-bit byte, with bits indicating kinematic state, lateral control, transmission state, and external signal state. If this code indicates a fault, the driver is alerted. Thus, driver is notified of errors in the host's reported state.
15. The method of claim 11 , wherein performing forward collision avoidance includes: identifying an expected forward collision condition based on the relative position code and the host vehicle dynamic state code; identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition; identifying a vehicle control action based on the deceleration rate; and operating the host vehicle in accordance with the vehicle control action.
Forward collision avoidance involves identifying a potential collision based on the relative position code and the host vehicle's dynamic state. A deceleration rate is determined to avoid the collision. A vehicle control action is chosen based on the deceleration rate, and the host vehicle operates according to this action. The system identifies hazards, calculates response, and executes that response.
16. The method of claim 15 , wherein identifying the expected forward collision condition includes determining that the remote vehicle is ahead of the host vehicle, the remote vehicle is in-lane with the host vehicle, the remote vehicle is level with the host vehicle, and the host vehicle is in motion.
The potential forward collision condition is identified if the remote vehicle is ahead, in-lane, level, and the host vehicle is in motion. Only these conditions will trigger a potential collision alert and response.
17. The method of claim 15 , wherein identifying the deceleration rate includes: identifying a current geospatial distance between the host vehicle and the remote vehicle; identifying the deceleration rate based on the current geospatial distance between the host vehicle and the remote vehicle, a current speed of the remote vehicle, and a current speed of the host vehicle, such that traversing the vehicle transportation network by decelerating in accordance with the deceleration rate includes decelerating such that a difference between a speed of the host vehicle at a post-deceleration location and an expected speed for the remote vehicle temporally corresponding to the post-deceleration location is within a relative speed threshold for forward collision avoidance, and a difference between a geospatial location of the host vehicle corresponding to the post-deceleration location and an expected geospatial location for the remote vehicle corresponding to the post-deceleration location exceeds a minimum distance threshold for forward collision avoidance.
To determine the deceleration rate, the current distance between vehicles is identified. The deceleration rate is then based on this distance, remote vehicle speed, and host vehicle speed. The goal is that, after deceleration, the host's speed is close to the remote's, and the distance is safely large. This ensures the correct deceleration to prevent collision.
18. The method of claim 17 , wherein identifying the vehicle control action includes: on a condition that the deceleration rate is within a forward collision advisory deceleration rate threshold, identifying an advisory vehicle control action corresponding to the deceleration rate as the vehicle control action; and on a condition that the deceleration rate is within a forward collision warning deceleration rate threshold, identifying a warning vehicle control action corresponding to the deceleration rate as the vehicle control action.
If the required deceleration rate is within a "forward collision advisory" threshold, an advisory vehicle control action is identified. If the rate is within a "forward collision warning" threshold, a warning vehicle control action is identified. The system determines the type of action based on the severity of the potential collision.
19. The method of claim 18 , wherein traversing the portion of the vehicle transportation network in accordance with the vehicle control action includes: on a condition that the vehicle control action is the advisory vehicle control action, presenting a representation of the advisory vehicle control action to a driver of the host vehicle; and on a condition that the vehicle control action is the warning vehicle control action, autonomously controlling the host vehicle in accordance with the deceleration rate.
This invention relates to vehicle control systems that provide advisory or warning actions to drivers based on conditions in a vehicle transportation network. The system monitors the network to detect potential hazards or obstacles and generates vehicle control actions to mitigate risks. These actions can be either advisory, where the system provides recommendations to the driver, or warning, where the system autonomously intervenes to control the vehicle. When an advisory action is generated, the system presents a representation of the recommended control action to the driver, such as a visual or auditory alert. If a warning action is generated, the system autonomously controls the host vehicle, such as by applying a specified deceleration rate to avoid a collision or other hazard. The system dynamically adjusts its control actions based on real-time data from the transportation network, ensuring timely and appropriate responses to changing conditions. This approach enhances safety by combining driver assistance with autonomous intervention when necessary.
20. A method for use in traversing a vehicle transportation network, the method comprising: traversing, by a host vehicle, a vehicle transportation network, wherein traversing the vehicle transportation network includes: receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, determining a relative position code indicating geospatial location of the remote vehicle relative to the host vehicle based on the host vehicle information, the remote vehicle information, and a reference direction, determining a host vehicle dynamic state code based on the host vehicle information, identifying an expected forward collision condition based on the relative position code and the host vehicle dynamic state code, identifying a current geospatial distance between the host vehicle and the remote vehicle, identifying a deceleration rate for safely traversing the vehicle transportation network in response to identifying the expected forward collision condition, wherein identifying the deceleration rate includes identifying the deceleration rate based on the current geospatial distance between the host vehicle and the remote vehicle, a current speed of the remote vehicle, and a current speed of the host vehicle, such that traversing the vehicle transportation network by decelerating in accordance with the deceleration rate includes decelerating such that a difference between a speed of the host vehicle at a post-deceleration location and an expected speed for the remote vehicle temporally corresponding to the post-deceleration location is within a relative speed threshold for forward collision avoidance, and a difference between a geospatial location of the host vehicle corresponding to the post-deceleration location and an expected geospatial location for the remote vehicle corresponding to the post-deceleration location exceeds a minimum distance threshold for forward collision avoidance, identifying a vehicle control action based on the deceleration rate, and traversing a portion of the vehicle transportation network, wherein traversing the portion of the vehicle transportation network includes operating the host vehicle in accordance with the vehicle control action.
A host vehicle receives remote vehicle information wirelessly and determines the remote vehicle's geospatial location relative to itself. It also determines its own dynamic state and identifies an expected forward collision condition based on the relative position and dynamic state. A current geospatial distance between vehicles is identified. A deceleration rate is determined based on the distance and speeds of both vehicles, ensuring a safe speed and distance after deceleration. A vehicle control action is then selected and used to control the host vehicle. This involves assessing risk, calculating the optimal deceleration, choosing the correct response, and executing that response.
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March 23, 2016
October 24, 2017
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